Provided are a fluorescence imaging probe and a handheld imaging prober, relating to the technical field of medical devices. The fluorescence imaging probe includes a dichroic filter and an image detector, the dichroic filter is arranged at an included angle of 45° with a direction of a main optical axis of incident excitation light, the incident excitation light is reflected by the dichroic filter to a target detection position, the reflected incident excitation light excites a fluorescent substance at the target detection position to form fluorescence, a main optical axis of the fluorescence is arranged coaxially with the image detector, the fluorescence is incident to the image detectors through the dichroic filter, and the image detector converts the received fluorescence into an image signal.